WO2019160470A1 - Suspension pour outils robotiques d'extérieur - Google Patents

Suspension pour outils robotiques d'extérieur Download PDF

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Publication number
WO2019160470A1
WO2019160470A1 PCT/SE2019/050103 SE2019050103W WO2019160470A1 WO 2019160470 A1 WO2019160470 A1 WO 2019160470A1 SE 2019050103 W SE2019050103 W SE 2019050103W WO 2019160470 A1 WO2019160470 A1 WO 2019160470A1
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WO
WIPO (PCT)
Prior art keywords
tool
component
magnetic
magnetic member
magnetic field
Prior art date
Application number
PCT/SE2019/050103
Other languages
English (en)
Inventor
Lars EDERFORS
Original Assignee
Husqvarna Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to US16/967,594 priority Critical patent/US11953074B2/en
Priority to DE112019000833.1T priority patent/DE112019000833T5/de
Publication of WO2019160470A1 publication Critical patent/WO2019160470A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F6/00—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid
    • F16F6/005—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid using permanent magnets only
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • F16P3/008—Devices for directly stopping or interrupting the drive or gear in case of danger to the machine, e.g. devices with clutches
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/661—Docking at a base station
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/20—Devices for protecting men or animals
    • A01D2075/203—Devices for protecting men or animals by stopping driving when lifting frames, e.g. for haymakers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D2101/00—Lawn-mowers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/245—Arrangements for determining position or orientation using dead reckoning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to an outdoor robotic tool comprising a first part and a second part, wherein the first part supports the second part through a suspension arrangement.
  • the present invention also relates to a method for detecting the alignment of the first part to the second part of the outdoor robotic tool.
  • Outdoor robotic tools that move autonomously such as robotic lawnmowers, may occasionally collide with objects.
  • the detection of a collision of an outdoor robotic tool is important in order to enable the tool to respond to that collision.
  • a response may include re-directing the tool and/or logging the position of the collision.
  • Outdoor robotic tools may be lifted or otherwise manipulated, for example by a user, whilst in use.
  • Outdoor robotic tools may include movable parts, for example cutting blades, which are sufficiently safe during normal use of the outdoor robotic tool but which may be less safe when the outdoor robotic tool is manipulated or lifted.
  • a response may include stopping the cutting blades.
  • One method of detecting collisions and lifts of outdoor robotic tools is to detect the movement of the case of the tool relative to the chassis. This requires a suspension of the case to the chassis, which is usually achieved with columns and springs.
  • the present invention provides an outdoor robotic tool comprising a first part and a second part, wherein the first part supports the second part through a suspension arrangement, the suspension arrangement comprising:
  • the magnetic interaction between the magnetic member of the first component and the magnetic member of the second component tends to align the first part with the second part in a preferred alignment such that when a force causes the first part and second part to move out of the preferred alignment, the magnetic interaction between the magnetic member of the first component and the magnetic member of the second component tends to draw the first part and the second part back into the preferred alignment.
  • the present invention particularly relates to robotic lawnmowers.
  • the first part of the tool is a chassis of the tool.
  • the second part of the tool is a case of the tool.
  • the invention also provides, in a second aspect, a case for a robotic lawnmower, wherein the case comprises a component, the component comprising at least one magnetic member; wherein the magnetic member is optionally a permanent magnet.
  • the second part of the tool defines the outer lateral periphery of the tool.
  • the present invention allows the space between the chassis and the case to be minimised, increasing the efficiency of the overall space utilisation within the case. This may allow for a larger chassis to be used within a case of a given dimension, or a smaller case to be used with a chassis of a given dimension.
  • the present invention is far more simple to manufacture than column and spring-type suspension systems of the prior art.
  • the present invention relies on the magnetic interaction of at least one magnetic component of the first component with at least one magnetic component of the second component when in use.
  • at least one magnetic component of the first component interacts with at least one magnetic component of the second component when in use so as to tend to attract one another.
  • the magnetic interaction of the first component and the second component align the first part and the second part into a preferred alignment.
  • the preferred alignment will preferably define both the position and the orientation of the first part and the second part, relative to one another.
  • the action of an external force upon the second part may cause the first part and second part to move out of the preferred alignment.
  • the magnetic interaction between the magnetic member of the first component and the magnetic member of the second component tends to draw the first part and the second part back into the preferred alignment.
  • the tool is configured to perform an action based on the state of the alignment of the first part and the second part and/or a change in the state of alignment of the first part and the second part.
  • the tool includes a magnetic field sensing unit that comprises a control unit and a magnetic field sensor, wherein the magnetic field sensing unit is able to detect a magnetic field of at least one magnetic member of the suspension arrangement.
  • the magnetic field sensing unit will preferably be able to detect when the first part and the second part are aligned in the preferred alignment. Therefore, the magnetic field sensing unit will preferably also be able to detect when the first part and the second part are not aligned in the preferred alignment.
  • the magnetic field sensing unit will preferably be able to detect changes in the magnetic field. Such changes may result from the first part and the second part either moving out of alignment or moving into alignment.
  • the magnetic field sensing unit will detect manipulations of the outdoor robotic tool, such as collisions with an object and/or when an outdoor robotic tool is lifted by a user.
  • the tool is configured to perform an action based on the state of the alignment of the first part and the second part and/or a change in the state of alignment of the first part and the second part.
  • the magnetic field sensing unit comprises a Hall Effect sensor.
  • the magnetic field sensing unit comprises a three dimensional (3D) magnetic field sensor, such as a three dimensional Hall Effect sensor.
  • 3D Hall Effect sensors are able to detect magnetic fields in three dimensions. Therefore, such a sensor will enable the robotic tool to detect many movements of the second part relative to the first part.
  • the tool comprises two or more magnetic field sensing units, such as three or more magnetic field sensing units, or four or more magnetic field sensing units.
  • each suspension arrangement has a magnetic field sensing unit associated with it.
  • the outdoor tool comprises one magnetic field sensing unit and three or more, such as four or more, suspension arrangements.
  • each magnetic field sensing unit may comprise two or more magnetic field sensors, such as three or more, or four or more magnetic field sensors.
  • each magnetic field sensing unit may comprise two or more control units, such as three or more, or four or more control units.
  • the control unit is connected to more than one magnetic field sensor. It will be appreciated that a magnetic field sensor will need to be positioned within a sensing range of a permanent or temporary magnet of the magnetic field sensing unit. The sensing range will depend on the sensitivity of the magnetic field sensing unit and the strength of the magnetic field generated by the magnet. The magnetic field sensor may be positioned more closely to the first or the second component to alleviate any issues with magnetic noise generated by other components of the robotic tool.
  • the magnetic field sensing unit comprises a sensor arrangement to hold the magnetic field sensor.
  • the magnetic field sensor may be positioned 5 cm or less, such as 2 cm or less, or 1 cm or less, from a first component and/or second component.
  • the first part In order for the magnetic field sensing unit to be able to sense when the tool is manipulated, the first part must be able to move, relative to the second part, out of the preferred alignment.
  • the skilled person will be aware that outdoor robotic tools, such as robotic lawnmowers, move along the ground in a substantially horizontal plane when in use.
  • a vertical axis is perpendicular to the horizontal plane.
  • the first component will be able to move relative to the second component in both the horizontal plane and the vertical axis.
  • the second part defines the outer lateral periphery of the tool.
  • the outer lateral periphery of the tool may be defined as the perimeter of the tool in a horizontal plane.
  • outdoor robotic tools tend to move parallel with the ground, in a generally horizontal plane, the collision of such a tool with an object on the ground causes a horizontal force to act upon the second part, i.e. the case.
  • a horizontal force may cause a horizontal displacement of the second part of the robotic tool relative to, the first part i.e. the first part, such that the second part is moved out of the preferred alignment with the first part.
  • outdoor robotic tools may be subject to vertical forces, for example when a user lifts the outdoor robotic tool. In this case, a vertical force will cause a vertical displacement of the second part, of the robotic tool relative to the first part, such that the second part is moved out of the preferred alignment with the first part.
  • Movement of the second part relative to the first part in the vertical axis and/or the horizontal plane may be in one, two, three, four or five directions relative to the preferred alignment position, depending on the direction that suspension is required in.
  • the skilled reader will appreciate that the above-described directions may consist of a maximum of four horizontal directions and one vertical direction.
  • the vertical direction is orthogonal to each horizontal direction, and each horizontal direction is orthogonal to two other horizontal directions and inversely parallel to another horizontal direction.
  • the second part may move relative to the first part in more than two directions at any one time.
  • the suspension arrangement must allow for movement of the second part horizontally backwards from the preferred alignment position, in relation to the first part.
  • the suspension arrangement must allow for movement of the second part in all horizontal and vertical directions from the preferred alignment position, in relation to the first part.
  • a first contact surface of the first part makes contact with a second contact surface of second part.
  • the first contact surface and the second contact surface are defined directly above the first component and the second component respectively.
  • the first contact surface and the second contact surface may be defined at locations other than directly above the first component and the second component.
  • first contact surface and the second contact surface are able to move over one another in the horizontal plane.
  • one or both of the first and second contact surfaces are flat and/or horizontal to allow for movement in the horizontal plane. Such substantially flat and/or horizontal contact surfaces will allow both for the departure of the first part and the second part from the preferred alignment as well as the return of the first part and the second part back into the preferred alignment.
  • first contact surface and the second contact surface are able to be separated in the vertical axis.
  • the first and/or second contact surface comprises a low-friction material.
  • the low-friction material is a material that lowers the friction between the first contact surface and the second contact surface relative to the friction that would be produced if the contact surfaces were formed of the same material that forms a substantial part of the first part and/or the second part.
  • Suitable low-friction materials include polytetrafluoroethylene (PTFE), PTFE/graphite, PTFE/molybdenum disulfide and molybdenum disulfide. Such materials will facilitate easy movement of the second part relative to the first part.
  • first contact surface may be generally convex, and the second contact surface may be generally concave; alternatively, the first contact surface may be generally concave, and the second contact surface may be generally convex.
  • the build-up of dirt between the contact surfaces may produce friction and/or adhesion between these surfaces. Therefore, it is preferable that the contact surfaces stay free from dirt when in use.
  • first and second contact surfaces are textured.
  • first and/or second contact surface may be textured such that the greater the horizontal displacement between the contact surfaces, the more textured the first and/or second contact surfaces are.
  • Such texture will produce more friction between the first and the second surfaces the further that the first component is horizontally displaced from the second component.
  • the texturing gradually increases, or increases in stepped amounts as the displacement between the first and the second components increases. This may prevent the first part and the second part from being too-far displaced from the preferred alignment.
  • the first part and/or the second part may optionally be configured so as to prevent extreme displacement of the second part relative to the first part in the horizontal plane and/or the vertical axis.
  • the first part and/or the second part may optionally be configured so as to prevent the displacement of the second part relative to the first part reaching a point where at least one magnetic member of the first component and at least one magnetic member of the second component do not significantly interact.
  • the prevention of extreme displacement may be executed using one or more stops and/or one or more rebutting protrusions.
  • the first and/or second parts may be configured to prevent the first and second parts from departing from the preferred alignment in any direction by more than 200 mm, or by more than 100 mm.
  • the first and/or second parts may be configured to allow the first and second parts to depart from the preferred alignment by more than 3 mm, or by more than 15 mm.
  • three or more, such as four or more contact surfaces are positioned near the corners of a top surface, but on the top surface, of the first part to support similarly positioned contact surfaces on the second part. It will be appreciated that this arrangement will give the second part a degree of stability to the second part, relative to the first part.
  • the first and the second components each comprise at least one magnetic member, and at least one of the magnetic members of suspension arrangement must be a permanent magnet.
  • a permanent, or hard, magnet is a ferromagnetic material that is magnetised by an external magnetic field and that remains magnetised after the external magnetic field is removed.
  • Temporary, or soft, magnets are other ferromagnetic materials that become magnetised in the presence of an external magnetic field but do not remain magnetised after the external magnetic field is removed.
  • a permanent magnet will magnetically interact with either another permanent magnet or a temporary magnet.
  • a temporary magnet will not magnetically interact with another temporary magnet in the absence of an existing magnetic field.
  • the first component comprises at least one magnetic member that is a permanent magnet.
  • the second component comprises at least one magnetic member that is a permanent magnet.
  • both the first component and the second component comprise at least one magnetic member that is a permanent magnet.
  • a suitable permanent magnet may be an iron oxide magnet (for example a magnet made of Fe20s), a neodymium magnet (for example a magnet made of a neodymium iron boron (NdFeB) alloy, such as Nd2Fei4B), a nickel magnet (for example a magnet made of an iron aluminium nickel cobalt alloy, such as Alnico) or a samarium magnet (for example a magnet made of a samarium-cobalt alloy, such as SmCos, or Sn ⁇ Con).
  • an iron oxide magnet for example a magnet made of Fe20s
  • a neodymium magnet for example a magnet made of a neodymium iron boron (NdFeB) alloy, such as Nd2Fei4B
  • a nickel magnet for example a magnet made of an iron aluminium nickel cobalt alloy, such as Alnico
  • a samarium magnet for example a magnet made of a
  • a suitable temporary magnet may be an iron magnet, an iron-cobalt alloy magnet (for example a permendur magnet), a nickel magnet, a nickel-iron alloys magnet (for example a permalloy magnet), a silicon steel magnet, or a manganese zinc ferrite magnet.
  • the magnetic members of the first and second components may individually be any suitable size and shape. Cylindrical, cubic and cuboidal magnets are preferred for their availability. It is preferred that the magnets of the first and the second components are lcm thick or less, or 5mm thick or less, or 2mm thick or less. This may aid efficient utilisation of the space between the first part and the second part. Because of the wide variety of magnets available - of different strengths, sizes and shapes -the suspension properties of the suspension arrangement will be able to be modified to make the suspension either firmer or looser by changing the magnets used.
  • the first component and/or the second component additionally comprises a magnet retainer to secure each magnetic member to the first part or the second part of the tool. It may be that the magnet retainer defines the first contact surface and/or the second contact surface.
  • the first part has a top end and a bottom end, and the first component is positioned on or near the top end of the first part.
  • the second part defines an under surface and an over surface, and the second component is positioned on or near the under surface of the second part. It will be appreciated that with such positioning, when second part covers the first part in use, the first component and the second component will be able to interact robustly and therefore to draw the second part and the first part into the preferred alignment.
  • the robotic tool comprises two or more, such as three or more, or four or more suspension arrangements, wherein each suspension arrangement comprises a first component and a second component.
  • the magnetic components of the suspension arrangement are patterned and/or shaped so as to produce an uneven magnetic field.
  • the uneven magnetic field produced by such shaping and/or patterning may be sensed by the magnetic field sensor to detect certain motions away from the preferred alignment.
  • the invention provides a method for aligning the first part of an outdoor robotic tool according to the first aspect relative to the second part of the tool, wherein the method comprises: positioning a magnetic member of the first component so as to magnetically interact with a magnetic member of the second component, in order that the magnetic interaction between the magnetic member of the first component and the magnetic member of the second component tends to align the first part with the second part in a preferred alignment such that when a force causes the first part and second part to move out of the preferred alignment, the magnetic interaction between the magnetic member of the first component and the magnetic member of the second component tends to draw the first part and the second part back into the preferred alignment.
  • the method is for detecting the alignment of the first part of an outdoor robotic tool according to the first aspect to the second part of the tool, wherein the method comprises detecting the magnetic field using the magnetic field sensing unit.
  • This method of sensing has the technical benefit of utilising a sensor with no moving parts.
  • the method further comprises the step of the control unit performing an action.
  • the method detects the state of alignment of the first part and the second part, and the action is based on the state of alignment.
  • the state of alignment may indicate, for example, that the robotic tool has collided by an object, by detecting that the first and second parts have come out of alignment along a horizontal direction, and/or that the robotic tool has been lifted, by detecting that the first and second parts have come out of alignment in a vertical direction.
  • the action is to prevent or cease operation of a cutting unit of the outdoor robotic tool.
  • the action is to prevent or cease movement of the outdoor robotic tool. Such actions may be particularly preferable if, for example, the robotic tool has been lifted, and/or the second part has been removed from the first part.
  • the method detects a change in the state of alignment of the first part and the second part, and the action is based on the change in the state of the alignment. In one embodiment the method further comprises the step of the control unit performing an action based on the change in the state of alignment of the first part and the second part.
  • the detection of a change in the state of alignment of the first part and the second part may be indicative of a manipulation of the tool, such as a collision of the tool with an object.
  • the particular action performed by the control unit may depend on the manipulation detected.
  • the action is to stop the operation of a cutting unit of the outdoor robotic tool. This action is particularly preferable if the robotic tool is lifted.
  • the action is to stop the motion of the outdoor robotic tool, or to log the location of the collision and/or manipulation. This action is particularly preferable if the robotic tool collides with an object on the side facing the direction of motion of the tool.
  • the detection of a collision or manipulation may result in no change in the action of the robotic tool. For example, if a collision is detected on the side facing away from the direction of motion of the tool, this might suggest that a collision with an object in motion, such as a toy, has been detected. As such, the tool may continue as previously intended.
  • the invention provides a method of aligning a case of a robotic lawnmower with a chassis of said robotic lawnmower, the method comprising drawing the case to a preferred alignment with the chassis by means of magnetic interaction.
  • the method may optionally comprise operating the robotic lawnmower to collide with an object such that the case is brought out of the preferred alignment with the chassis by the collision, and returning the case to the preferred alignment with the chassis by means of said magnetic interaction.
  • Figure 1 is a perspective view of an outdoor robotic tool in accordance with the present invention, specifically a robotic lawnmower, from the top comprising a first part and a second part;
  • Figure 2 is a perspective view of the first part depicted in Figure 1 from the top, where the first part has four first components;
  • Figure 3 is a perspective view of the second part depicted in Figure 1 from the underside, where the second part has four second components;
  • Figure 4 is a perspective view of a magnetic field sensing unit comprising a magnetic field sensor
  • Figure 5 is a perspective view of the first part depicted in Figure 2 from the underside, where the first part has four magnetic field sensing units as depicted in Figure 4;
  • Figure 6 is a perspective view of a cross-section through the outdoor robotic tool depicted in Figure 1 , showing the second part, the suspension arrangement, the first part and the magnetic field sensing unit, wherein the second part is in a preferred arrangement relative to the first part;
  • Figure 7 is a cross-section of the outdoor robotic tool depicted in Figure 1 , where the second part has been lifted from the first part, as illustrated by the arrow; and
  • Figure 8 is a cross-section of the outdoor robotic tool depicted in Figure 1 , wherein the second part has collided with an object from the right side, as illustrated by the arrow.
  • an outdoor robotic tool specifically a self-propelled, autonomous robotic lawnmower 10, including a first part 20 and a second part 30.
  • the first part 20 may be referred to as a chassis and the second part 30 may be referred to as a case.
  • the second part 30 covers the first part 20, as these components would be arranged when the robotic lawnmower 10 is in use.
  • the first part 20 will typically contain cutting blades, wheels for propelling the robotic lawnmower, control circuitry with e.g. navigation electronics, and a power unit for the robotic lawnmower.
  • the second part 30 defines the outer lateral periphery of the tool 10 and will typically protect the robotic lawnmower from damage caused by, for example, collisions and/or the weather.
  • the first part 20 is shown in more detail in Figure 2 of the accompanying drawings.
  • the first part 20 has four first components 40.
  • the first components 40 each comprise a magnetic member that comprises a magnet.
  • the magnet is covered by and hidden behind a magnet retainer.
  • the magnet is a Nd Fei B magnet.
  • the magnet retainers individually define first contact surfaces for contact with the second part. In this embodiment the first contact surfaces are low in friction.
  • Each magnet retainer is affixed to the first part by three attachments points, which could be screws.
  • the first components 40 are positioned in the corners of the top surface of the first part 20, which allows the second part to be stably supported upon the first part.
  • the underside of the second part 30 is shown in Figure 3 of the accompanying drawings.
  • the second part 30 has four second components 50.
  • the second components 50 each comprise a magnetic member that comprises a magnet.
  • the magnet is covered by and hidden behind a magnet retainer.
  • the magnet is a Nd Fei B magnet.
  • the magnet retainers of the second components 50 individually define second contact surfaces for contact with the first part. In this embodiment the second contact surfaces are low in friction.
  • Each magnet retainer is affixed to the second part 30 by three attachments points, which could be screws.
  • the second components 50 are positioned in the corners of the inner surface of the second part 30, which allows the second part to be stably supported upon the first part.
  • the present invention comprises a magnetic field sensing unit.
  • Figure 4 of the accompanying drawings shows an exemplary magnetic field sensing unit 60.
  • the magnetic field sensing unit 60 comprises a control unit 61, a sensor board 62 and a sensor board holder 64.
  • the sensor board holder 64 has a first end 66 and a second end 68.
  • the first end 66 is for attachment to the first part 20, for example by a screw, whilst the second end 68 holds the sensor board 62.
  • the sensor board 62 comprises a 3D Hall Effect sensor.
  • FIG. 5 of the accompanying drawings shows the underside of the first part 20, to which a magnetic field sensing unit 60 has been provided.
  • the magnetic field sensing unit 60 has four magnetic field sensors, each positioned in a corner of the under surface of the first part 20.
  • each magnetic field sensor is positioned underneath each first component 40 shown in Figure 2.
  • One control unit 61 is used with the four magnetic field sensors.
  • Figure 6 of the accompanying drawings shows a cross-sectional view through a magnetic field sensing unit 60 and a suspension arrangement, the suspension arrangement comprising second part 30, second component 50, first component 40 and first part 20.
  • the suspension arrangement is aligned as it would be in the preferred alignment.
  • the first component 40 comprises a magnet 42 and a magnet retainer 44.
  • the second component 50 comprises a magnet 52 and a magnet retainer 54.
  • the magnet retainer 44 of the first component 40 defines a first contact surface
  • the magnet retainer 54 of the second component 50 defines a second contact surface.
  • the first contact surface and the second contact surface are each substantially flat, and in use will be substantially horizontal.
  • the first contact surface makes contact with the second contact surface to hold the second part 30 above the first part 20.
  • the sensor board holder 64 of the magnetic field sensing unit 60 holds the sensor board 62 at a set distance from the magnet 42 of the first component 40.
  • the magnets 42, 52 are situated above one another, such that their interaction is at a maximum.
  • the Hall Effect sensor on the sensor board 62 will typically be calibrated to the magnetic field at the preferred alignment.
  • FIGS 7 and 8 of the accompanying drawings depict the lifting and manipulation of the second part 30 relative to the first part 20 respectively.
  • the suspension arrangement and the magnetic field sensing unit on the right side are shown in cross-section, whereas the suspension arrangement and the magnetic field sensing unit on the left side (as viewed) are shown in side-on view.
  • the second part 30 is lifted from the first part 20 of the robotic lawnmower 10. It can be seen that the lifting force has exceeded the magnetic interaction of the first components 40 and the second components 50. Therefore, a vertical displacement has been generated between the contact surfaces of the first part 20 and the contact surfaces of the second part 30. The lifting force has caused the first part 20 and the second part 30 to move out of the preferred alignment. The vertical displacement of the first component 40 from the second component 50 has changed the magnetic field at the 3D Hall Effect sensor of the sensor board 62.
  • the magnetic field sensing unit may detect a change in the direction and/or intensity of the magnetic field due to this vertical displacement.
  • the control unit 61 of the magnetic field sensing unit will interpret the data from the Hall Effect sensor and act accordingly, such as to stop the cutting unit of the robotic lawnmower.
  • the second part 30 has been manipulated relative to the first part 20 of the robotic lawnmower 10. Such a manipulation may occur when the robotic lawnmower 10 is moving autonomously and collides with an object.
  • the force resulting from the collision is shown as an arrow. It can be seen that the force has caused the second part 30 to move leftwards (as viewed) in relation to the first part 20. Therefore, the contact surfaces of the second part 30 have been displaced leftwards in relation to the contact surfaces of the first part 20.
  • the manipulation force has caused the first part 20 and the second part 30 to move out of the preferred alignment.
  • the horizontal displacement of the first component 40 from the second component 50 has changed the magnetic field at the 3D Hall Effect sensor of the sensor board 62.
  • the magnetic field sensing unit may detect a change in the direction and/or intensity of the magnetic field due to this horizontal displacement.
  • the control unit 61 of the magnetic field sensing unit will interpret the data from the Hall Effect sensor and act accordingly, such as to stop the motion of the robotic lawnmower and/or to log the location of the manipulation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)
  • Switches That Are Operated By Magnetic Or Electric Fields (AREA)

Abstract

L'invention porte sur un outil robotique d'extérieur (10) comprenant une première partie (20) et une seconde partie (30), la première partie (20) supportant la seconde partie (30) au moyen d'un agencement de suspension. L'agencement de suspension comprend un premier composant (40), qui comporte au moins un élément magnétique ; et un second composant (50), qui comporte au moins un élément magnétique. Le premier composant (40) est fixé à la première partie (20), le second composant (50) étant fixé à la seconde partie (30), au moins l'un des éléments magnétiques de l'agencement de suspension étant un aimant permanent (42, 52) ; et un élément magnétique du premier composant (40) étant positionné de façon à interagir magnétiquement avec un élément magnétique du second composant (50) lors de l'utilisation. Une unité de détection de champ magnétique (60) peut être présente et, le cas échéant, comprend une unité de commande (61) et un capteur de champ magnétique. L'invention concerne également un procédé de détection de l'alignement de la première partie (20) par rapport à la seconde partie (30), le procédé comprenant la détection du champ magnétique à l'aide de l'unité de détection de champ magnétique (60).
PCT/SE2019/050103 2018-02-16 2019-02-07 Suspension pour outils robotiques d'extérieur WO2019160470A1 (fr)

Priority Applications (2)

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US16/967,594 US11953074B2 (en) 2018-02-16 2019-02-07 Suspension for outdoor robotic tools
DE112019000833.1T DE112019000833T5 (de) 2018-02-16 2019-02-07 Aufhängung für aussenroboterwerkzeuge

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SE1850166A SE542401C2 (en) 2018-02-16 2018-02-16 Suspension for outdoor robotic tools
SE1850166-8 2018-02-16

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US11953074B2 (en) 2024-04-09
SE542401C2 (en) 2020-04-21
US20210270338A1 (en) 2021-09-02
SE1850166A1 (en) 2019-08-17
DE112019000833T5 (de) 2020-10-22

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